Fast Lidar Inertial Odometry and Mapping for Mobile Robot SE(2) Navigation

Abstract

This paper presents a fast Lidar inertial odometry and mapping (F-LIOM) method for mobile robot navigation on flat terrain with high real-time pose estimation, map building, and place recognition. Existing works on Lidar inertial odometry have mostly parameterized the keyframe pose as SE(3) even when the robots moved on flat ground, which complicated the motion model and was not conducive to real-time non-linear optimization. In this paper, F-LIOM is shown to be cost-effective in terms of model complexity and computation efficiency for robot SE(2) navigation, as the motions in other degrees of freedom in 3D, including roll, pitch, and z, are considered to be noise terms that corrupt the pose estimation. For front-end place recognition, the smoothness information of the feature point cloud is introduced to construct a novel global descriptor that integrates geometry and environmental texture characteristics. Experiments under challenging scenarios, including self-collected datasets and public datasets, were conducted to validate the proposed method. The experimental results demonstrated that F-LIOM could achieve competitive real-time performance in terms of accuracy compared with state-of-the-art counterparts. Our solution has significant superiority and the potential to be deployed in limited-resource mobile robot systems.